[examples] DigitalCommunication, I2CCommunication: Add tests (#4865)

wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/digitalcommunication/DigitalCommunicationTest.java

@@ -0,0 +1,114 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.examples.digitalcommunication;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.AllianceStationID;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.DIOSim;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.parallel.ResourceLock;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ValueSource;
+
+@ResourceLock("timing")
+class DigitalCommunicationTest {
+  private Robot m_robot;
+  private Thread m_thread;
+  private final DIOSim m_allianceOutput = new DIOSim(Robot.kAlliancePort);
+  private final DIOSim m_enabledOutput = new DIOSim(Robot.kEnabledPort);
+  private final DIOSim m_autonomousOutput = new DIOSim(Robot.kAutonomousPort);
+  private final DIOSim m_alertOutput = new DIOSim(Robot.kAlertPort);
+
+  @BeforeEach
+  void startThread() {
+    HAL.initialize(500, 0);
+    SimHooks.pauseTiming();
+    DriverStationSim.resetData();
+    m_robot = new Robot();
+    m_thread = new Thread(m_robot::startCompetition);
+    m_thread.start();
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
+  }
+
+  @AfterEach
+  void stopThread() {
+    m_robot.endCompetition();
+    try {
+      m_thread.interrupt();
+      m_thread.join();
+    } catch (InterruptedException ex) {
+      Thread.currentThread().interrupt();
+    }
+    m_robot.close();
+    m_allianceOutput.resetData();
+    m_enabledOutput.resetData();
+    m_autonomousOutput.resetData();
+    m_alertOutput.resetData();
+  }
+
+  @EnumSource(AllianceStationID.class)
+  @ParameterizedTest(name = "alliance[{index}]: {0}")
+  void allianceTest(AllianceStationID alliance) {
+    DriverStationSim.setAllianceStationId(alliance);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_allianceOutput.getInitialized());
+    assertFalse(m_allianceOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(alliance.name().startsWith("Red"), m_allianceOutput.getValue());
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "enabled[{index}]: {0}")
+  void enabledTest(boolean enabled) {
+    DriverStationSim.setEnabled(enabled);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_enabledOutput.getInitialized());
+    assertFalse(m_enabledOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(enabled, m_enabledOutput.getValue());
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "autonomous[{index}]: {0}")
+  void autonomousTest(boolean autonomous) {
+    DriverStationSim.setAutonomous(autonomous);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_autonomousOutput.getInitialized());
+    assertFalse(m_autonomousOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(autonomous, m_autonomousOutput.getValue());
+  }
+
+  @ValueSource(doubles = {45.0, 27.0, 23.0})
+  @ParameterizedTest(name = "alert[{index}]: {0}s")
+  void alertTest(double matchTime) {
+    DriverStationSim.setMatchTime(matchTime);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_alertOutput.getInitialized());
+    assertFalse(m_alertOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(matchTime <= 30 && matchTime >= 25, m_alertOutput.getValue());
+  }
+}

wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/i2ccommunication/I2CCommunicationTest.java

@@ -0,0 +1,126 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.examples.i2ccommunication;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.AllianceStationID;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.simulation.CallbackStore;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj.simulation.I2CSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.time.Duration;
+import java.util.concurrent.CompletableFuture;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.parallel.ResourceLock;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ValueSource;
+
+@ResourceLock("timing")
+class I2CCommunicationTest {
+  private Robot m_robot;
+  private Thread m_thread;
+  private final I2CSim m_i2c = new I2CSim(Robot.kPort.value);
+  private CompletableFuture<String> m_future;
+  private CallbackStore m_callback;
+
+  @BeforeEach
+  void startThread() {
+    HAL.initialize(500, 0);
+    SimHooks.pauseTiming();
+    DriverStationSim.resetData();
+    m_future = new CompletableFuture<>();
+    m_callback =
+        m_i2c.registerWriteCallback(
+            (name, buffer, count) -> m_future.complete(new String(buffer, 0, count)));
+    m_robot = new Robot();
+    m_thread = new Thread(m_robot::startCompetition);
+    m_thread.start();
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
+  }
+
+  @AfterEach
+  void stopThread() {
+    m_robot.endCompetition();
+    try {
+      m_thread.interrupt();
+      m_thread.join();
+    } catch (InterruptedException ex) {
+      Thread.currentThread().interrupt();
+    }
+    m_robot.close();
+    m_callback.close();
+    m_i2c.resetData();
+  }
+
+  @EnumSource(AllianceStationID.class)
+  @ParameterizedTest(name = "alliance[{index}]: {0}")
+  void allianceTest(AllianceStationID alliance) {
+    DriverStationSim.setAllianceStationId(alliance);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    char expected = alliance.name().startsWith("Red") ? 'R' : 'B';
+
+    assertEquals(expected, str.charAt(0));
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "enabled[{index}]: {0}")
+  void enabledTest(boolean enabled) {
+    DriverStationSim.setEnabled(enabled);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    char expected = enabled ? 'E' : 'D';
+
+    assertEquals(expected, str.charAt(1));
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "autonomous[{index}]: {0}")
+  void autonomousTest(boolean autonomous) {
+    DriverStationSim.setAutonomous(autonomous);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    char expected = autonomous ? 'A' : 'T';
+
+    assertEquals(expected, str.charAt(2));
+  }
+
+  @ValueSource(doubles = {112.0, 45.0, 27.0, 23.0, 3.0})
+  @ParameterizedTest(name = "matchTime[{index}]: {0}s")
+  void matchTimeTest(double matchTime) {
+    DriverStationSim.setMatchTime(matchTime);
+    DriverStationSim.notifyNewData();
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    String expected = String.format("%03d", (int) DriverStation.getMatchTime());
+
+    assertEquals(expected, str.substring(3));
+  }
+}